A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers"

Abstract:In response to the reply presented in [Muñoz-Vázquez and Sánchez-Torres(2026)], this technical report extends the experimental evaluation of position-feedback velocity observers and adaptive tracking controllers for a pendular system with nonlinear friction reported in [Cervantes-Pérez et al.(2026)]. The immersion and invariance (I&I) adaptive control scheme proposed in [Romero et al.(2025)], whose gains are tuned according to the guidelines presented in [Ortega et al.(2025)], is compared with a control scheme employing the adaptive modi?ed super-twisting observer of [Dávila et al.(2006)], whose observer gains are selected according to the guidelines proposed in [Muñoz-Vázquez and Sánchez-Torres(2026)]. Although these "tuning guidelines" attenuate chattering in certain scenarios, the experimental results reported here show that they do not eliminate it in general.

Systems and Control (eess.SY); Robotics (cs.RO)

arXiv:2610.20815 [eess.SY]

(or arXiv:2610.20815v1 [eess.SY] for this version)

https://doi.org/10.48550/arXiv.2610.20815 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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